Method for determining a target curve incline of a motor vehicle during traveling of a curved roadway section

• US 9,694,812 B2
• Filed: 10/31/2013
• Issued: 07/04/2017
• Est. Priority Date: 12/20/2012
• Status: Active Grant

• Current Assignee: Daimler AG (Mercedes-Benz Group AG)
• Original Assignee: Daimler AG (Mercedes-Benz Group AG)
• Inventors: Rau, Magnus, Hainbuch, Claus-Michael, Ammon, Dieter
• Primary Examiner(s): To, Tuan C.
• Application Number:
  US14/654,427
• Publication Number:
  US 20150336585A1
• Time in Patent Office: 1,342 Days
• CPC Class Codes: B60T 2210/24 Curve radius
• CPC Class Codes: B60T 2210/36 Global Positioning System [GPS]
• CPC Class Codes: B60T 2230/06 Tractor-trailer swaying
• CPC Class Codes: B60T 8/17551 determining control parameters related to vehicle stability used in the regulation, e.g. by calculations involving measured or detected parameters
• CPC Class Codes: B60T 8/17554 specially adapted for enhancing stability around the vehicles longitudinal axle, i.e. roll-over prevention road vehicle drive control systems for roll-over prevention otherwise than by controlling a particular sub-unit B60W30/04
• CPC Class Codes: B60T 8/17555 specially adapted for enhancing driver or passenger comfort, e.g. soft intervention or pre-actuation strategies
• CPC Class Codes: B60W 2030/043 about the roll axis
• CPC Class Codes: B60W 2520/10 Longitudinal speed
• CPC Class Codes: B60W 2520/105 Longitudinal acceleration
• CPC Class Codes: B60W 2552/30 Road curve radius
• CPC Class Codes: B60W 2556/50 of positioning data, e.g. GPS [Global Positioning System] data
• CPC Class Codes: B60W 2720/18 Roll
• CPC Class Codes: B60W 30/025 related to comfort of drivers or passengers
• CPC Class Codes: B60W 30/04 related to roll-over prevention
• CPC Class Codes: B60W 40/072 Curvature of the road
• CPC Class Codes: G01C 21/26 specially adapted for navigation in a road network

Abstract

A method and device for determining a target curve incline of a motor vehicle during traveling of a curved roadway section is disclosed. A momentary transverse acceleration of the motor vehicle is determined depending on a momentary speed of the motor vehicle and a momentary roadway curvature of the curved roadway section determined by an optical detection system. A momentary target curve incline for the motor vehicle is calculated from the determined momentary transverse acceleration. A modified momentary target curve incline is calculated by weighting of the calculated target curve incline with a speed-dependent target curve incline weighting factor. The momentary roadway curvature is determined by additionally using a vehicle navigation system of the motor vehicle.

Claims

1. A method for adjusting an incline of a motor vehicle chassis using a target curve incline of the motor vehicle determined during traveling of a curved roadway section, comprising the steps of:

a) determining a momentary transverse acceleration of the motor vehicle depending on a momentary speed of the motor vehicle and a momentary roadway curvature of the curved roadway section, wherein the momentary roadway curvature is determined by an optical detection system and a vehicle navigation system of the motor vehicle;

b) calculating a momentary target curve incline for the motor vehicle from the momentary transverse acceleration determined in step a);

c) calculating a modified momentary target curve incline by weighting the momentary target curve incline calculated in step b) with a speed-dependent target curve incline weighting factor; and

d) setting the chassis of the motor vehicle to said modified momentary target curve incline by individual adjustment of actuators respectively allocated to wheels of the motor vehicle.

2. The method according to claim 1, wherein the momentary roadway curvature is determined by additionally using the vehicle navigation system by extraction of a roadway curvature from map data of the vehicle navigation system allocated to the curved roadway section being traveled, wherein the allocation occurs by using a momentary position of the motor vehicle provided by a position sensor of the vehicle navigation system.

3. A device for adjusting an incline of a motor vehicle chassis using a target curve incline of the motor vehicle determined during traveling of a curved roadway section, comprising:

a control device;

an optical detection system, wherein a momentary roadway curvature of a curved roadway section traveled by the motor vehicle is determinable by the optical detection system;

a vehicle navigation system which includes a data store having map data and a position sensor, wherein a momentary position of the motor vehicle is determinable by the vehicle navigation system; and

actuators respectively allocated to wheels of the motor vehicle;

wherein the control device;

determines the momentary roadway curvature of the curved roadway section by using the optical detection system in combination with the vehicle navigation system;

determines a momentary target curve incline for the motor vehicle from the momentary roadway curvature determined by the control device;

calculates a modified momentary target curve incline from the momentary target curve incline by weighting with a target curve incline weighting factor; and

controls the actuators to set a chassis of the motor vehicle to said modified momentary target curve incline by individual adjustment of said actuators.